Course Roadmap

Modeling Analysis Design

• 2nd Order System • Bode Diagram

• Laplace Transform • Root Locus
• Transfer Function • Stability Analysis Using
• RH Criterion • PID
• Modeling of Systems
• Block Diagrams • Root Locus
• Frequency Response
 The Design of Feedback Control Systems

In this Lecture:
 Introduction to compensation design
 Phase Lead Compensation
 Phase Lag Compensation
 Phase Lead-lag Compensation
 PID Control
Question: What is system compensation?
Given the control plant, the procedure of controller design to
satisfy the requirement is called system compensation.

Question: Why to compensate?

The closed-loop system has the function of self-tunning. By
selecting a particular value of the gain K, some single
performance requirement may be met.
Is it possible to meet more than one performance
requirement?
Sometimes, it is not possible.
Something new has to be done to the system in order to
make it perform as required.
 Compensation and Compensator

 The alteration or adjustment of a control system in order

to provide a suitable performance is called
compensation

 The compensating device may be electric, mechanical,

hydraulic, pneumatic, or some other type of device or
network and is often called a compensator.
 APPROACHES TO SYSTEM DESIGN

The performance of a control system can be described in terms of

1.Time domain criteria（step response）

Overshoot, settling time, rising time, steady-state error

2. Frequency domain criteria

Open-loop frequency domain criteria：
crossover frequency, phase margin, gain margin
Closed-loop frequency domain criteria ：
maximum value Mr , resonant frequency, bandwidth
 Basic Philosophy of Design
Example : Consider a unity feedback system that is characterized by the following
process transfer function:

𝐾
𝐺𝑝 (𝑠) =
𝑠(1 + 𝑠)(1 + 0.0125𝑠)

Let us consider the steady state error to a unit ramp input must not exceed 0.01.

The minimum value of K needed is determined by

1 1
𝑒𝑠𝑠 = lim = ≤ 0.01
𝑠→0 𝑠𝐺𝑝 (𝑠) 𝐾

Thus K must be greater than 100.

This will lead to instability as a matter of fact the system will be unstable for K greater
than 81.
Basic Philosophy of Design
 Basic Philosophy of Design

Since the steady state performance of the system is governed by low frequency
characteristics of the transfer function, and the transient performance of system is
governed by high frequency characteristics, the pervious figure shows that to
simultaneously satsfy the transient and the steady state requirements, the frequency
locus of 𝐺𝑝 (𝑠) must be reshaped so that high frequency portion of the locus follows
the K=1.2 curve , and the low frequency portion follows K=100 curve.
 Frequency domain and time domain criteria

1
Resonant peak Mr  𝜁 ≤ 0.707
2 1   2

Resonant frequency  r   n 1  2 2
Bandwidth b   n 1  2 2  (1  2 2 ) 2  1

Gain crossover frequency c  n 4 4  1  2 2

2
Phase margin   arctg
4 4  1  2 2


1 2
Percentage overshoot %  e  100%
3 4
Settling time tS  ,
n n
 Structure of Compensator

According to the way of compensation, the compensator

can be classified into following categories:

R(s) + C(s)
Compensator Plant
-

(a) Cascade Compensation

 + + C(s)
Original Part
- -

Compensator

(b) Feedback compensation

R(s) + Compensator + C(s)

1 Original Part
- -

Compensator
2

(c)Cascade and feedback compensation

 Compensator

+
R(s) + + C(s)
Original Part
-

(d) Feed-forward compensation

N(s)
Compensator

+ +
R(s) + + Original C(s)
Controller Part
+
-

(e) Disturbance compensation

 Methods for Compensator Design

1. Frequency Response Based Method

Main idea ： By inserting the compensator, the Bode
diagram of the original system is altered to achieve
performance requirements.
Original open-loop Bode diagram＋Bode diagram
of compensator＋alteration of gain
＝open-loop Bode diagram with compensation
2. Root Locus Based Method
Main idea: Inserting the compensator introduces new
open-loop zeros and poles to change the closed-loop root
locus to satisfy the requirement.
 Cascade Compensation

Frequency response based compensation

Phase lead compensation
Phase lag compensation
Phase lead-lag compensation

Fundamental rule for control design：

Each requirement relates to a different region of the frequency axis in the
Bode diagram.
1. The steady-state error relates to the magnitude at low frequency.
2. The transient response requirement relates to the gain crossover
frequency, which usually occurs at higher frequencies.
Three design rules for cascade compensator:

1. The system is stable with satisfactory steady-state error, but

dynamic performance is not good enough.
Compensator is used to change medium and high
frequency parts to change crossover frequency and phase
margin.

L  ω


change of medium and
higher frequency parts
Three design rules for cascade compensator:

2. The system is stable with satisfactory transient performance,

but the steady-state error is large.
Compensator is used to increase gain and change lower
frequency part, but keep medium and higher frequency
parts unchanged.
L  ω


change of lower
frequency part
Three design rules for cascade compensator:

3. If the steady-state and transient performance are either

unsatisfactory, the compensator should be able to increase
gain of the lower frequency part and change the medium
and higher frequency parts.

L  ω

b)change of lower,
medium and higher
frequency parts
Cascade Compensation
Cascade Compensation
 Compensator Realization

𝑹𝟏 𝑹𝟐 𝑹𝟏 + 𝑹𝟐
𝝉= 𝑪 𝒂𝒏𝒅 𝜶 =
𝑹𝟏 +𝑹𝟐 𝑹𝟐
Phase Lead Compensator
Visulaizing The Effect of Phase Lead Compensator
Phase Lead Compensation
Maximum Phase Angle Φm Versus α For a Phase-Lead Network
 Phase-Lead Compensation

• What will lead compensation, do?

• Phase is positive: might be able to increase phase

margin (lower percent overshoot)

• Slope is positive: might be able to increase the cross-

over frequency, (and bandwidth)
 Phase Lead Design Using Bode Diagrams

4) Evaluate 10 log α and determine the

frequency where the uncompensated
magnitude curve is equal – 10 log α
(dB). The compensation network
provides a gain of 10 log α at ωm, this is
the new 0- dB crossover frequency.
 Example

Given a unity-feedback system with the following

open-loop transfer function

4K
G (s) 
s ( s  2)
Design phase lead element to satisfy the following
requirements:

1. steady speed error constant K v  20 s 1

2. phase margin   50

 40

20 Uncompensated
0 system
-20
20
-40 G(s) 
-60
10
0 1
10
2
10
s(0.5s  1)
-100

-120 c 0  6.17rad/s
-140   17
-160

-180
0 1 2
10 10 10

 m  50   17   33 ? Extra margin:

5o~10o
 m  50  17  5  38
   
 Remark:

The phase lead compensator not only takes extra phase

margin of 33o at the uncompensated gain crossover
frequency.
However, we also have to add the magnitude part of the
compensator to the uncompensated magnitude, and
the gain crossover frequency moves to a higher value.
The ultimate phase margin is less than 33o .
It implies we need to consider extra phase margin for
determine α.
 1  sin  m 1  sin 38
   4.2
1  sin  m 1  sin 38

1
10 𝐿𝑜𝑔 𝛼 = 6.2 𝑑𝐵
m  9rad/s   c1

40

1 m
1    4.4rad/s
20

  0

-20

1
2   m   18.4rad/s -40

 -60
10
0 1
10
2
10

s  4.4 1  0.227s
Gc s    0.238  50

s  18.4 1  0.054s 0

-50
Complete Compensator -100

1  0.227s
Gc s   -150

1  0.054s -200
0 1 2
10 10 10
 Constraints for application of lead compensation

 Constraint 1: The system is stable.

If it is unstable, the phase need to compensate is too big.
The noise takes severe effects on the system.

 Constraint 2: The phase cannot reduce very fast around the

gain crossover frequency.
The phase lead compensation can only provide less than
60o extra phase margin.

31
 Example

Given a unity-feedback system with the following

open-loop transfer function

1
𝐺 𝑠 = 2
𝑠

Problem. Design 𝐾,𝛼,𝜏 such that the phase margin is

increased by +45 degrees.
SOLUTION OF THE PROBLEM CONT.
 SOLUTION OF THE PROBLEM CONT.

𝟏
𝝉= =. 𝟐𝟔𝟔𝟔
𝝎𝒎 𝜶

𝟏 𝟏
𝒑 = = 𝟑. 𝟕𝟓 𝒛= =. 𝟔𝟒
𝝉 𝜶𝝉
SOLUTION OF THE PROBLEM CONT.
BODE PLOT FOR THE COMPENSATED SYSTEM
MATLAB CODE
STEADY STATE ERROR FOR THE COMPENSATED SYSTEM
SIMULATION OF THE COMPENSATED SYSTEM WITH STEP INPUT
 Change in the Final Exam Schedule of EE 380

EE 380 Control Engineering I 8:00 AM December 29, 2021 Wednesday LOCATION 57-304